Táto diplomová práca sa zaoberá matematickými aparátmi popisujúcimi doprednú a inverznú kinematiku robotického ramena. Pre popis polohy koncového efektoru, teda doprednej kinematiky, je potrebné zaviesť špeciálnu Euklidovskú grupu zobrazení. Táto grupa môže byť reprezentovaná pomocou matíc alebo pomocou duálnych kvaterniónov. Problém inverznej kinematiky, kedy je potrebné z určenej polohy koncového efektoru dopočítať kĺbové parametre robotického ramena, je v tejto práci riešený pomocou exponenciálnych zobrazení a Grobnerovej bázy. Všetky spomenuté popisy doprednej a inverznej kinematiky sú aplikované na robotické rameno s troma rotačnými kĺbami. Odvodené postupy sú následne implementované a vizualizované v prostredí programu Mathematica.

Die Verwendung von Mathcad an der TU Chemnitz hat sich sowohl im Bereich der Forschung und Entwicklung als auch der Lehre und Bearbeitung studentischer Projekte etabliert. Im Rahmen dieser Entwicklung ist das Expertenwissen entstanden, Lehrveranstaltungen zur gezielten Nutzung von Mathcad bei der Lösung technischer Berechnungsprobleme zu halten. Der erste Teil des Vortrags stellt Bemühungen zur Einführung dieser Software bereits in der Sekundarstufe II des Gymnasiums Einsiedel Chemnitz vor. Im zweiten Teil des Vortrags wird die intuitive Verwendung von Mathcad auch bei aufwendigeren Berechnungen an Beispielen der Getriebekinematik gezeigt. Mittels der Exponentialschreibweise werden eine Kurbelschwinge und ein Roboterarm beschrieben.

In this thesis I investigate the dynamics and stellar populations of a sample of 28 edge-on early-type (S0--Sb) disk galaxies, 22 of which host a boxy or peanut-shaped bulge. I begin by constructing mass models of the galaxies based on their observed photometry and stellar kinematics. Subject to cosmologically motivated assumptions about the shape of dark haloes, I measure in a purely dynamical way their stellar and dark masses. I make a preliminary comparison between the dynamically determined stellar masses and those predicted by stellar population models. I then compare the Tully-Fisher (luminosity--velocity) relations of the spirals and S0s in the sample. I show that S0s are systematically fainter at a given rotational velocity, but the amount by which they are fainter is less than expected by models in which they are the products of truncation of star formation in spirals. This raises the possibility that S0s are smaller or more concentrated than spirals of the same mass. I then study the vertical structure of the boxy and peanut-shaped bulges of a subset of the sample. Among this sample of five galaxies, I find one example in which the stellar populations show no evidence that the bulge and the disk formed in different processes, and in which the bulge is in perfectly cylindrical rotation, i.e. its line-of-sight velocity does not change with height above the disk. This galaxy is probably a pure disk galaxy. However, even with this small sample, I also show that cylindrical rotation and homogeneous stellar populations are not ubiquitous properties of boxy and peanut-shaped bulges. Finally I analyse central and radial trends in the stellar populations of the bulges of full sample of 28 galaxies. I find that, at a given velocity dispersion, the central stellar populations of these barred early-type disk galaxies are identical to those of elliptical galaxies, which suggests that secular evolution does not dominate the centre of these galaxies. However, the radial metallicity gradients are shallower than those of ellipticals. This is qualitatively consistent with chemodynamical models of bar formation, in which radial inflow and outflow smears out pre-existing gradients.

Thesis (MScPhysio)--Stellenbosch University, 2014. / ENGLISH ABSTRACT: Introduction: Groin injuries are among the top six injuries in contact sports and may lead to career ending chronic pain. Research on the role of knee kinematics in developing chronic groin pain in sport is scarce. Objective: The purpose of this study was to determine if there are differences in knee kinematics during a single-leg drop-landing in sports participants with chronic groin pain compared to asymptomatic controls. Methodology: A descriptive study was conducted. Twenty active sports’ participants were recruited from soccer and rugby clubs situated around the Cape Peninsula area, Western Cape, South Africa. The three-dimensional (3D) knee kinematics of ten cases with chronic groin pain and ten asymptomatic controls was analysed. Knee kinematics was analysed in the FNB-3D Vicon Laboratory at Stellenbosch University, using an eight camera Vicon system. A positive adductor squeeze test was used as a diagnostic test to include cases with chronic groin pain. Each participant performed six single-leg drop landings. The main outcome measure was 3D knee kinematics at initial foot contact and at the lowest vertical position of the drop landing. The following sub-groups were analysed: seven unilateral groin pain cases compared to their seven matched controls; three bilateral groin pain cases where their most painful leg and least painful leg were compared to their matched controls, respectively. Descriptive statistical techniques were used for all outcome measures; means and standard deviations (SD) were calculated, followed by a Student’s t-test to determine significant differences between the cases and controls. For all outcomes with p-values equal to or below 0.05, the effect size was calculated using the Cohen’s D. Results: The findings of this study indicated a significant difference (p=0.0001) between cases with unilateral groin pain having less knee internal rotation compared to the controls at the lowest vertical position of the drop landing in the transverse plane. Significantly less internal rotation (p<0.0001), was also noted in the cases with bilateral groin pain (in the most painful leg and the less painful leg), although this was noted at foot contact. Cases with bilateral groin pain also had significantly (p<0.001) more knee varus (adduction) during the landing phase. Conclusion: Differences in knee kinematics between sports participants with chronic groin pain and asymptomatic controls were found. These findings imply that the knee joint should be included during assessment and rehabilitation of individuals suffering with chronic groin pain. Due to the cross-sectional study design of the current study, it cannot be stated for certain whether the knee kinematics noted in the groin pain group are causative or as a result of groin pain. Future prospective studies are thus recommended; these studies should focus on the effect of contralateral knee kinematics on the hip adductors and may include exploration of the muscular components during a single-leg drop landing. / AFRIKAANSE OPSOMMING: Inleiding: Lies beserings is een van die top ses beserings in kontak sport en kan lei tot chroniese lies pyn en selfs die be-eindigging van ‘n sportloopbaan. Navorsing oor die rol van knie kinematika in die ontwikkeling van chroniese liesbeserings in sport is skaars. Doelwit: Die doel van hierdie studie was om te bepaal of daar verskille in die knie kinematika is tydens 'n enkel been val landing in sport deelnemers met chroniese lies pyn in vergelyking met gesonde kontroles. Metode: 'n Beskrywende studie was uitgevoer. Twintig aktiewe sport deelnemers is gewerf van rugby en sokker sportklubs geleë rondom die Kaapse Skiereiland, Wes-Kaap, Suid-Afrika. Die 3D knie kinematika van tien gevalle met chroniese lies pyn en tien asimptomatiese bypassende kontroles is ontleed. Knie kinematika was ontleed in die FNB-3D Vicon Laboratorium by die Universiteit van Stellenbosch, met behulp van 'n agt-kamera Vicon stelsel. 'n Positiewe Adduktor druk toets was gebruik as 'n diagnostiese toets om gevalle met chroniese lies pyn in te sluit. Om die knie kinematika te analiseer, het elke deelnemer ses enkel been val landings uitgevoer . Die belangrikste uitkomsmeting was 3D knie kinematika by die aanvanklike voet kontak en by die laagste vertikale posisie van die enkel-been val landing. Die volgende sub-groepe was ontleed: sewe unilaterale lies pyn gevalle in vergelyking met hul sewe bypassende kontroles; drie bilaterale lies pyn gevalle waar hul mees pynlike been, sowel as minder pynlike been onderskeidelik vergelyk was met hul bypassende kontroles. Beskrywende statistiese tegnieke was gebruik vir alle uitkoms maatreëls; gemiddeldes en standaardafwykings (SA) was bereken, gevolg deur 'n Studente’s t-toets om beduidende verskille tussen die gevalle en kontroles te bepaal. Vir al die uitkomste met p-waardes gelyk of onder 0.05, is die effekgrootte bereken deur die Cohen’s D. Resultate: Die bevindings van hierdie studie dui op 'n beduidende verskil (p=0,0001) tussen gevalle met unilaterale lies pyn met minder interne knie rotasie in vergelyking met die kontroles by die laagste vertikale posisie van die val landing in die dwars vlak. Aansienlik minder interne rotasie (p<0,0001), is ook opgemerk in gevalle met bilaterale lies pyn (in die mees pynlike been en die minder pynlik been), alhoewel tydens voet kontak. Gevalle met bilaterale lies pyn het ook betekenisvol (p <0.001) meer knie varus (adduksie) tydens die landingsfase gehad. Gevolgtrekking: Verskille bestaan in die knie kinematika tussen sport deelnemers met chroniese liesbesering pyn en gesonde kontroles. Hierdie bevindinge impliseer dat die knie behoort ingesluit te word tydens die assessering en rehabilitasie van individue met chroniese lies pyn. As gevolg van die deursnee-studie ontwerp van hierdie studie, kan dit nie bevestig word of die knie kinematika die oorsaak van die chroniese pyn is nie. Toekomstige voornemende studies word dus aanbeveel, hierdie studies moet fokus op die effek van die kinematika van die kontralaterale knie op die heup adduktore en kan moontlik die ondersoek van die spier kinetika tydens hierdie aktiwiteit insluit.

Galaxies are natural laboratories for testing fundamental physics on the nature of the dark matter. MOdified Newtonian Dynamics (MOND) has been tested for over 20 years on small and large scales. While there are several versions of how MOND extrapolates to the large scales, and these versions are not yet fully successful, the original Bekenstein-Milgrom version of MOND is fully predictive and works very well on galaxy scales. However, little work has been done to explore this theory beyond fitting the rotation curves and Tully-Fisher relation of isolated disc galaxies. So far little is known of MONDian elliptical galaxies accelerating in any galaxy cluster. A defining feature of MOND is that internal dynamics of the galaxy depends on the overall acceleration of the galaxy. The existence of cuspy triaxial equilibria for elliptical galaxies is the minimal requirement to MOND. With the PhD project here, I constructed and then further studied the evolution and stability of gravitationally bound systems resembling like cuspy elliptical galaxies, both in isolation and when embedded in a uniform external field. I also studied the escape speeds from spiral galaxies, in particular by comparing the potentials of the Milky Way Galaxy in the Cold Dark Matter (CDM) and MOND frameworks.

We constrain the proper motions of five OB stars associated with candidate stellar wind bow shocks in the Carina Nebula using Hubble Space Telescope ACS imaging over 9-10 yr baselines. These proper motions allow us to directly compare each star's motion to the orientation of its candidate bow shock. Although these stars are saturated in our imaging, we assess their motion by the shifts required to minimize residuals in their airy rings. The results limit the direction of each star's motion to sectors less than 90 degrees wide. None of the five stars are moving away from the Carina Nebula's central clusters as runaway stars would be, confirming that a candidate bow shock is not necessarily indicative of a runaway star. Two of the five stars are moving tangentially relative to the orientation of their candidate bow shocks, both of which point at the OB cluster Trumpler 14. In these cases, the large-scale flow of the interstellar medium, powered by feedback from the cluster, appears to dominate over the motion of the star in producing the observed candidate bow shock. The remaining three stars all have some component of motion towards the central clusters, meaning that we cannot distinguish whether their candidate bow shocks are indicators of stellar motion, of the flow of ambient gas or of density gradients in their surroundings. In addition, these stars' lack of outward motion hints that the distributed massive-star population in Carina's South Pillars region formed in place, rather than migrating out from the association's central clusters.

This PhD study aimed to address the sustainability issues of the robotic systems from the environmental and social aspects. During the research, three approaches were developed: the first one an online programming-free model-driven system that utilises web-based distributed human-robot collaboration architecture to perform distant assembly operations. It uses a robot-mounted camera to capture the silhouettes of the components from different angles. Then the system analyses those silhouettes and constructs the corresponding 3D models.Using the 3D models together with the model of a robotic assembly cell, the system guides a distant human operator to assemble the real components in the actual robotic cell. To satisfy the safety aspect of the human-robot collaboration, a second approach has been developed for effective online collision avoidance in an augmented environment, where virtual three-dimensional (3D) models of robots and real images of human operators from depth cameras are used for monitoring and collision detection. A prototype system is developed and linked to industrial robot controllers for adaptive robot control, without the need of programming by the operators. The result of collision detection reveals four safety strategies: the system can alert an operator, stop a robot, move away the robot, or modify the robot’s trajectory away from an approaching operator. These strategies can be activated based on the operator’s location with respect to the robot. The case study of the research further discusses the possibility of implementing the developed method in realistic applications, for example, collaboration between robots and humans in an assembly line.To tackle the energy aspect of the sustainability for the human-robot production environment, a third approach has been developed which aims to minimise the robot energy consumption during assembly. Given a trajectory and based on the inverse kinematics and dynamics of a robot, a set of attainable configurations for the robot can be determined, perused by calculating the suitable forces and torques on the joints and links of the robot. The energy consumption is then calculated for each configuration and based on the assigned trajectory. The ones with the lowest energy consumption are selected. / <p>QC 20170223</p>

Rotator cuff disease is multi-factored and has been attributed to both intrinsic and extrinsic factors. Extrinsic factors contribute to compression of the rotator cuff tendons. Intrinsic factors that contribute to rotator cuff tendon degradation with tensile/shear overload include alterations in biology, mechanical properties, morphology, and vascularity. Subacromial impingement is related to factors that encroach upon the subacromial space, while internal impingement affects the articular side of the tendons adjacent to glenoid. While the mechanisms of impingement are varied, further research is necessary to improve treatment and patient outcomes. Chapter 2 is a thorough review of literature on the mechanisms of rotator cuff disease. Alterations in scapular kinematics may influence subacromial space and either contribute to the etiology of subacromial impingement with rotator cuff tendon compression or serve as a compensation to alleviate compression. Furthermore alterations in scapular position may directly influence rotator cuff muscle strength. Chapter 3 compares the influence of the scapular assistance test on scapular upward rotation, posterior tilt, subacromial space, and shoulder strength between healthy individuals and subjects with subacromial impingement syndrome. Scapular upward rotation and posterior tilt induced with scapular assistance test appears to influence subacromial space, but not shoulder muscle strength; however, the influence of these scapular rotations do not differ between asymptomatic individuals and those with subacromial impingement. Furthermore scapular posterior tilt appears to have a greater influence on increasing subacromial space and should be emphasized in the treatment of individuals with subacromial impingement. In chapter 4, we examine the influence that obvious scapular dyskinesis and passive scapular correction with the scapular assistance test have on 3D scapular kinematics and subacromial space. Scapular dyskinesis did not alter scapular kinematics or acromiohumeral distance during active elevation in static positions, in the scapular plane, and without a load when compared to those without scapular dyskinesis. This suggests other contributing factors, such as pain, increased load, or fatigue is requisite to alterations in scapular kinematics or AHD. Passive correction with the scapular assistance test increased scapular upward rotation, posterior tilt, and subacromial space in individuals with and without dyskinesis. In patients with obvious dyskinesis, there was a greater increase in scapular upward rotation with passive scapular assistance. This increased scapular upward rotation had a negative relationship with change in the acromiohumeral distance. The scapular dyskinesis test increased acromiohumeral distance and therefore may be helpful identifying individuals where subacromial compression is producing symptoms, regardless of dyskinesis. The results of this research suggest scapular kinematics and subacromial space are altered with the passive maneuver of the scapular assistance test in all individuals, regardless of subacromial impingement syndrome or scapular dyskinesis. Scapular dyskinesis alone may not be detrimental to scapular position and subacromial space when evaluated in static positions of active arm elevation. Other potential factors may be required to alter scapular kinematics to reduce subacromial space including pain, dynamic movement, load or fatigue. Further study is necessary to determine the influence of the combination of these factors in individuals with scapular dyskinesis.

The goal of this study was to evaluate biomechanical differences between healthy subjects and those with ankle instability during the gradual onset of lower extremity fatigue from a landing activity. An understanding of these differences is needed in order to prevent future injury to or further debilitation in individuals with ankle instability. A functional fatiguing activity was designed to focus fatigue on the quadriceps muscles, as those are the muscles most frequently fatigued during sport. Measures were taken throughout the progression of fatigue with a force plate and a motion tracking system and included vertical ground reaction force and lower extremity kinetics, kinematics, and energetics. The time required to reach self-reported fatigue and a balance assessment, the Star Excursion Balance Test, before and after the onset of fatigue was also recorded. Significant differences were observed between groups in peak ground reaction force, ground reaction force impulse, and frontal plane ankle joint impulse. Results indicated that subjects with ankle instability not only exhibited a different baseline for most measurements than normal subjects, but also managed the progression of fatigue differently. With this information and information from further studies, recommendations and/ or training schemes could be made and implemented to help those with ankle instability avoid recurrent injuries.

L’objectif principal de cette thèse est d’identifier les étoiles de faible masse et naines brunes membres d’associations cinématiques jeunes du voisinage solaire. Ces associations sont typiquement âgées de moins de 200 millions d’années et regroupent chacune un ensemble d’étoiles s’étant formées au même moment et dans un même environnement. La majorité de leurs membres d'environ plus de 0.3 fois la masse du Soleil sont déjà connus, cependant les membres moins massifs (et moins brillants) nous échappent encore. Leur identification permettra de lever le voile sur plusieurs questions fondamentales en astrophysique. En particulier, le fait de cibler des objets jeunes, encore chauds et lumineux par leur formation récente, permettra d’atteindre un régime de masses encore peu exploré, jusqu'à seulement quelques fois la masse de Jupiter. Elles nous permettront entre autres de contraindre la fonction de masse initiale et d'explorer la connection entre naines brunes et exoplanètes, étant donné que les moins massives des naines brunes jeunes auront des propriétés physiques très semblables aux exoplanètes géantes gazeuses. Pour mener à bien ce projet, nous avons adapté l'outil statistique BANYAN I pour qu'il soit applicable aux objets de très faibles masses en plus de lui apporter plusieurs améliorations. Nous avons entre autres inclus l'utilisation de deux diagrammes couleur-magnitude permettant de différencier les étoiles de faible masse et naines brunes jeunes à celles plus vieilles, ajouté l'utilisation de probabilités a priori pour rendre les résultats plus réalistes, adapté les modèles spatiaux et cinématiques des associations jeunes en utilisant des ellipsoïdes gaussiennes tridimensionnelles dont l'alignement des axes est libre, effectué une analyse Monte Carlo pour caractériser le taux de faux-positifs et faux-négatifs, puis revu la structure du code informatique pour le rendre plus efficace. Dans un premier temps, nous avons utilisé ce nouvel algorithme, BANYAN II, pour identifier 25 nouvelles candidates membres d'associations jeunes parmi un échantillon de 158 étoiles de faible masse (de types spectraux > M4) et naines brunes jeunes déjà connues. Nous avons ensuite effectué la corrélation croisée de deux catalogues couvrant tout le ciel en lumière proche-infrarouge et contenant ~ 500 millions d’objets célestes pour identifier environ 100 000 candidates naines brunes et étoiles de faible masse du voisinage solaire. À l'aide de l'outil BANYAN II, nous avons alors identifié quelques centaines d'objets appartenant fort probablement à une association jeune parmi cet échantillon et effectué un suivi spectroscopique en lumière proche-infrarouge pour les caractériser. Les travaux présentés ici ont mené à l'identification de 79 candidates naines brunes jeunes ainsi que 150 candidates étoiles de faible masse jeunes, puis un suivi spectroscopique nous a permis de confirmer le jeune âge de 49 de ces naines brunes et 62 de ces étoiles de faible masse. Nous avons ainsi approximativement doublé le nombre de naines brunes jeunes connues, ce qui a ouvert la porte à une caractérisation statistique de leur population. Ces nouvelles naines brunes jeunes représentent un laboratoire idéal pour mieux comprendre l'atmosphère des exoplanètes géantes gazeuses. Nous avons identifié les premiers signes d’une remontée dans la fonction de masse initiale des naines brunes aux très faibles masses dans l'association jeune Tucana-Horologium, ce qui pourrait indiquer que l’éjection d’exoplanètes joue un rôle important dans la composition de leur population. Les résultats du suivi spectroscopique nous ont permis de construire une séquence empirique complète pour les types spectraux M5-L5 à l'âge du champ, à faible (β) et très faible (γ) gravité de surface. Nous avons effectué une comparaison de ces données aux modèles d'évolution et d'atmosphère, puis nous avons construit un ensemble de séquences empiriques de couleur-magnitude et types spectraux-magnitude pour les naines brunes jeunes. Finalement, nous avons découvert deux nouvelles exoplanètes par un suivi en imagerie directe des étoiles jeunes de faible masse identifiées dans ce projet. La future mission GAIA et le suivi spectroscopique complet des candidates présentées dans cette thèse permettront de confirmer leur appartenance aux associations jeunes et de contraindre la fonction de masse initiale dans le régime sous-stellaire. / The main objective of this thesis is the identification of low-mass star and brown dwarf members of young moving groups in the solar neighborhood. These associations are typically younger than 200 million years and include stars formed at the same time and in the same environment. The majority of their members with masses approximately larger than 0.3 times that of the Sun have already been discovered, however the less massive, fainter members are still elusive. Their identification will allow us to address several fundamental questions in astrophysics. In particular, uncovering young objects that are still warm because of their recent formation will allow us to probe masses down to only a few times the mass of Jupiter, a mass regime which is still poorly understood. They will allow us to constrain the initial mass function and explore the connection between brown dwarfs and exoplanets, given that the least massive brown dwarfs have physical properties similar to those of gaseous giant exoplanets. In order to carry through this project, we have adapted the BANYAN I statistical tool to make it applicable to very low-mass objects in addition to bringing several improvements to the tool. We have included the use of two near-infrared color-magnitude diagrams that allow differentiating young low-mass stars and brown dwarfs from older objects, we added the use of prior probabilities to make its results more realistic, we adapted spatial and kinematic models of moving groups using tridimensional gaussian ellipsoids with axes free to rotate, we performed a Monte Carlo analysis to characterize the rate of false-positive and false-negatives, and we revised the structure of its source code to make it more efficient. As a first step, we have used this new algorithm, BANYAN II, to identify 25 new candidate members among a sample of 158 known young low-mass stars (with spectral types > M4) and brown dwarfs. We have then performed a cross-correlation of two all-sky near-infrared catalogs consisting of ~ 500 million celestial objects to identify approximately 100 000 brown dwarf and low-mass star candidates in the solar neighborhood. We have identified a few hundred promising young association members in this sample with the BANYAN II tool, and have performed a near-infrared spectroscopic survey to characterize them. The work presented here has led to the identification of 79 candidate young brown dwarfs and 150 candidate young low-mass stars, and a spectroscopic follow-up allowed us to confirm the young age of 49 brown dwarfs and 62 low-mass stars. We have thus boosted the number of known young brown dwarfs by a factor ~ 2, opening the door to a statistical characterization of their population. These new young brown dwarfs represent an ideal laboratory to better understand the atmospheres of gaseous giant exoplanets. We have identified the first signs of a turn-up in the initial mass function of very low-mass brown dwarfs in the Tucana-Horologium association, which could indicate that exoplanet scattering plays a significant role in composing their population. Results from this spectroscopic follow-up has allowed us to construct an complete empirical sequence of spectral types M5-L5 for field dwarfs, low-gravity (β) and very low-gravity (γ) dwarfs. We have performed a comparison of these new data with evolution and atmosphere models, and constructed a set of empirical spectral type-magnitude and color-magnitude sequences for young brown dwarfs. Finally, we have discovered two new exoplanets from a direct-imaging follow-up of low-mass stars discovered as part of this project. The future GAIA mission and the complete spectroscopic follow-up of the candidates presented in this thesis will allow to confirm their membership and to constrain the initial mass function in the substellar regime.